/PROG  TL1_PICK
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 PICK";
PROG_SIZE	= 1293;
CREATE		= DATE 12-04-21  TIME 12:10:08;
MODIFIED	= DATE 25-01-02  TIME 22:21:28;
FILE_NAME	= TL1_DROP;
VERSION		= 0;
LINE_COUNT	= 26;
MEMORY_SIZE	= 1693;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[25]=ON    ;
   6:J P[1:CLEAR] 50% CNT20 ACC50    ;
   7:L P[2:APPROACH] 600mm/sec CNT50 ACC70    ;
   8:  WAIT DI[25]=ON    ;
   9:L P[3:APPROACH] 300mm/sec CNT50    ;
  10:L P[4:APPROACH] 300mm/sec FINE    ;
  11:  DO[13]=OFF ;
  12:  DO[14]=ON ;
  13:  WAIT DI[14]=ON    ;
  14:  WAIT    .50(sec) ;
  15:L P[5:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[20]=ON    ;
  16:  WAIT   1.00(sec) ;
  17:  DO[14]=OFF ;
  18:  DO[13]=ON ;
  19:  WAIT DI[13]=ON    ;
  20:  WAIT   1.00(sec) ;
  21:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20]=OFF    ;
  22:L P[7:APPROACH] 300mm/sec CNT50    ;
  23:L P[8:APPROACH] 300mm/sec CNT50    ;
  24:L P[9:CLEAR] 500mm/sec CNT50 ACC70    ;
  25:   ;
  26:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -10.000 deg,	J2=   -40.764 deg,	J3=    57.752 deg,
	J4=     -.000 deg,	J5=   -57.752 deg,	J6=   100.000 deg,
	E1=    16.095 deg
};
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    22.289 deg,	J2=   -16.339 deg,	J3=    82.054 deg,
	J4=    86.403 deg,	J5=  -112.014 deg,	J6=    81.288 deg,
	E1=    15.275 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    21.208 deg,	J2=   -17.187 deg,	J3=    73.564 deg,
	J4=    83.396 deg,	J5=  -110.201 deg,	J6=    72.326 deg,
	E1=    15.275 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3266.221  mm,	Y =   653.978  mm,	Z = -1404.607  mm,
	W =   123.630 deg,	P =    89.810 deg,	R =    33.291 deg,
	E1=    14.110 deg
};
P[5:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3266.219  mm,	Y =   470.857  mm,	Z = -1404.608  mm,
	W =   123.683 deg,	P =    89.810 deg,	R =    33.344 deg,
	E1=    14.110 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3266.219  mm,	Y =   473.497  mm,	Z = -1291.808  mm,
	W =   123.654 deg,	P =    89.810 deg,	R =    33.316 deg,
	E1=    14.110 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3262.735  mm,	Y =   723.697  mm,	Z = -1287.896  mm,
	W =    13.110 deg,	P =    89.236 deg,	R =   -77.227 deg,
	E1=    14.108 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    22.289 deg,	J2=   -16.339 deg,	J3=    82.054 deg,
	J4=    86.403 deg,	J5=  -112.014 deg,	J6=    81.288 deg,
	E1=    15.275 deg
};
P[9:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -10.000 deg,	J2=   -40.764 deg,	J3=    57.752 deg,
	J4=     -.000 deg,	J5=   -57.752 deg,	J6=   100.000 deg,
	E1=    16.095 deg
};
/END
